// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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#ifndef KKL_G2O_EDGE_SE3_PRIORQUAT_HPP
#define KKL_G2O_EDGE_SE3_PRIORQUAT_HPP

#include <g2o/types/slam3d/types_slam3d.h>
#include <g2o/types/slam3d_addons/types_slam3d_addons.h>

namespace g2o {
class EdgeSE3PriorQuat : public g2o::BaseUnaryEdge<3, Eigen::Quaterniond, g2o::VertexSE3> {
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  EdgeSE3PriorQuat() : g2o::BaseUnaryEdge<3, Eigen::Quaterniond, g2o::VertexSE3>() {}

  void computeError() override {
    const g2o::VertexSE3* v1 = static_cast<const g2o::VertexSE3*>(_vertices[0]);

    Eigen::Quaterniond estimate = Eigen::Quaterniond(v1->estimate().linear());

    if(_measurement.coeffs().dot(estimate.coeffs()) < 0.0) {
      estimate.coeffs() = -estimate.coeffs();
    }
    _error = estimate.vec() - _measurement.vec();
  }

  void setMeasurement(const Eigen::Quaterniond& m) override {
    _measurement = m;
    if(m.w() < 0.0) {
      _measurement.coeffs() = -m.coeffs();
    }
  }

  virtual bool read(std::istream& is) override {
    Eigen::Quaterniond q;
    is >> q.w() >> q.x() >> q.y() >> q.z();
    setMeasurement(q);
    for(int i = 0; i < information().rows(); ++i)
      for(int j = i; j < information().cols(); ++j) {
        is >> information()(i, j);
        if(i != j) information()(j, i) = information()(i, j);
      }
    return true;
  }
  virtual bool write(std::ostream& os) const override {
    Eigen::Quaterniond q = _measurement;
    os << q.w() << " " << q.x() << " " << q.y() << " " << q.z();
    for(int i = 0; i < information().rows(); ++i)
      for(int j = i; j < information().cols(); ++j) os << " " << information()(i, j);
    return os.good();
  }
};
}  // namespace g2o

#endif